US8370006B2 - Method and apparatus for optimizing a train trip using signal information - Google Patents
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Images
Classifications
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- B61L15/0058—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/10—Operations, e.g. scheduling or time tables
- B61L27/16—Trackside optimisation of vehicle or vehicle train operation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/021—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L2205/00—Communication or navigation systems for railway traffic
- B61L2205/04—Satellite based navigation systems, e.g. GPS
Abstract
Description
where x is the position of the train, v is train velocity, t is time (in miles, miles per hour and minutes or hours as appropriate) and u is the notch (throttle) command input. Further, D denotes the distance to be traveled, Tf the desired arrival time at distance D along the track, Te is the tractive effort produced by the locomotive consist, Ga is the gravitational drag (which depends on train length, train makeup and travel terrain) and R is the net speed dependent drag of the locomotive consist and train combination. The initial and final speeds can also be specified, but without loss of generality are taken to be zero here (train stopped at beginning and end of the trip). The model is readily modified to include other dynamics factors such the lag between a change in throttle u and a resulting tractive or braking effort.
The coefficients of the linear combination depend on the importance (weight) given to each of the terms. Note that in equation (OP), u(t) is the optimizing variable that is the continuous notch position. If discrete notch is required, e.g. for older locomotives, the solution to equation (OP) is discretized, which may result in lower fuel savings. Finding a minimum time solution (α1 set to zero and α2 set to zero or a relatively small value) is used to find a lower bound for the achievable travel time (Tf=Tfmin). In this case, both u(t) and Tf are optimizing variables. The preferred embodiment solves the equation (OP) for various values of Tf with Tf>Tfmin with α3 set to zero. In this latter case, Tf is treated as a constraint.
0≦ν≦SL(x)
or when using minimum time as the objective, the adjoin constraint may be that an end point constraint must hold, e.g. total fuel consumed must be less than what is in the tank, e.g. via:
where WF is the fuel remaining in the tank at Tf. Those skilled in the art will readily recognize that equation (OP) can presented in other forms and that the version above is an exemplary equation for use in one embodiment of the present invention.
t min(i)≦t arr(D i)≦t max(i)−Δt i
t arr(D i)+Δt i ≦t dep(D i)≦t max(i) i=1, . . . , M−1
where tarr(Di), tdep(Di), and Δti are the arrival, departure, and minimum stop time at the ith stop, respectively. Assuming that fuel-optimality implies minimizing stop time, therefore tdep(Di)=tarr (Di)+Δti which eliminates the second inequality above. Suppose for each i=1, . . . , M, the fuel-optimal trip from Di−1 to Di for travel time t, Tmin(i)≦t≦Tmax(i), is known. Let Fi(t) be the fuel-use corresponding to this trip. If the travel time from Dj−1 to Dj is denoted Tj, then the arrival time at Di is given by
where Δt0 is defined to be zero. The fuel-optimal trip from D0 to DM for travel time T is then obtained by finding Ti, i=1, . . . , M, which minimizes
Here, {tilde over (F)}i(t,x,ν) is the fuel-used of the optimal trip from x to Di, traveled in time t, with initial speed at x of ν.
Claims (43)
Priority Applications (28)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/608,066 US8370006B2 (en) | 2006-03-20 | 2006-12-07 | Method and apparatus for optimizing a train trip using signal information |
JP2009540341A JP2010512265A (en) | 2006-12-07 | 2007-09-10 | Method and apparatus for optimizing train operation using signal information |
PCT/US2007/078016 WO2008073546A2 (en) | 2006-12-07 | 2007-09-10 | Method and apparatus for optimizing railroad train operation for a train including multiple distributed-power locomotives |
AU2007289021A AU2007289021A1 (en) | 2006-12-07 | 2007-09-10 | Method and apparatus for optimizing railroad train operation for a train including multiple distributed-power locomotives |
CA002622557A CA2622557A1 (en) | 2006-12-07 | 2007-09-10 | Method and apparatus for optimizing a train trip using signal information |
RU2008109249/11A RU2501695C2 (en) | 2006-12-07 | 2007-09-10 | System and method for optimisation of train haul |
PCT/US2007/078026 WO2008073547A2 (en) | 2006-12-07 | 2007-09-10 | Trip optimization system and method for a diesel powered system |
CA002622514A CA2622514A1 (en) | 2006-12-07 | 2007-09-10 | Method and apparatus for optimizing railroad train operation for a train including multiple distributed-power locomotives |
BRPI0706026-2A BRPI0706026A2 (en) | 2006-12-07 | 2007-09-10 | method and device for optimizing the operation of a railway train for a distributed train including several locomotives |
CA002622865A CA2622865A1 (en) | 2006-12-07 | 2007-09-10 | Trip optimization system and method for a train |
CNA2007800013387A CN101432179A (en) | 2006-12-07 | 2007-09-10 | Method and apparatus for optimizing railroad train operation for a train including multiple distributed-power locomotives |
BRPI0706029-7A BRPI0706029A2 (en) | 2006-12-07 | 2007-09-10 | method and device for optimizing a train journey using information signals |
RU2008108985/11A RU2482990C2 (en) | 2006-12-07 | 2007-09-10 | Method for optimising operation of train with multiple locomotives with distributed power feed |
CN201210258349.6A CN102806923B (en) | 2006-12-07 | 2007-09-10 | For operating the method for rolling stock |
CN2007800013457A CN101415594B (en) | 2006-12-07 | 2007-09-10 | Trip optimization system and method for a train |
JP2009540343A JP5469463B2 (en) | 2006-12-07 | 2007-09-10 | Navigation optimization system and method for trains |
MX2008003368A MX2008003368A (en) | 2006-12-07 | 2007-09-10 | Trip optimization system and method for a train. |
CN2007800011663A CN101384465B (en) | 2006-12-07 | 2007-09-10 | Method and apparatus for optimizing a train trip using signal information |
JP2009540342A JP5469462B2 (en) | 2006-12-07 | 2007-09-10 | Method and apparatus for optimizing railway train operation for trains including multiple power distribution locomotives |
RU2008109009/09A RU2008109009A (en) | 2006-12-07 | 2007-09-10 | METHOD AND DEVICE FOR OPTIMIZATION OF TRAIN TRAFFIC USING SIGNAL INFORMATION |
PCT/US2007/078001 WO2008073545A2 (en) | 2006-12-07 | 2007-09-10 | Method and apparatus for optimizing a train trip using signal information |
AU2007294585A AU2007294585B2 (en) | 2006-12-07 | 2007-09-10 | Method and apparatus for optimizing a train trip using signal information |
AU2007289022A AU2007289022B2 (en) | 2006-12-07 | 2007-09-10 | Trip optimization system and method for a train |
BRPI0706027-0A BRPI0706027A2 (en) | 2006-12-07 | 2007-09-10 | travel optimization system and method for a train |
ZA200802191A ZA200802191B (en) | 2006-12-07 | 2008-03-07 | Method and apparatus for optimizing a train trip using signal information |
ZA200802279A ZA200802279B (en) | 2006-12-07 | 2008-03-10 | Method and apparatus for optimizing railroad train operation for a train including multiple distributed-power locomotives |
ZA200802282A ZA200802282B (en) | 2006-12-07 | 2008-03-10 | Trip optimization system and method for a diesel powered system |
US13/739,133 US8751073B2 (en) | 2006-03-20 | 2013-01-11 | Method and apparatus for optimizing a train trip using signal information |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US11/385,354 US9733625B2 (en) | 2006-03-20 | 2006-03-20 | Trip optimization system and method for a train |
US11/608,066 US8370006B2 (en) | 2006-03-20 | 2006-12-07 | Method and apparatus for optimizing a train trip using signal information |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US11/385,354 Continuation-In-Part US9733625B2 (en) | 2002-06-04 | 2006-03-20 | Trip optimization system and method for a train |
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US13/739,133 Continuation US8751073B2 (en) | 2006-03-20 | 2013-01-11 | Method and apparatus for optimizing a train trip using signal information |
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US20070219681A1 US20070219681A1 (en) | 2007-09-20 |
US8370006B2 true US8370006B2 (en) | 2013-02-05 |
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US13/739,133 Active US8751073B2 (en) | 2006-03-20 | 2013-01-11 | Method and apparatus for optimizing a train trip using signal information |
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US (2) | US8370006B2 (en) |
JP (2) | JP2010512265A (en) |
CN (4) | CN101384465B (en) |
AU (2) | AU2007289021A1 (en) |
BR (2) | BRPI0706029A2 (en) |
CA (1) | CA2622557A1 (en) |
RU (3) | RU2482990C2 (en) |
WO (1) | WO2008073545A2 (en) |
ZA (3) | ZA200802191B (en) |
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CN101415594A (en) | 2009-04-22 |
RU2482990C2 (en) | 2013-05-27 |
US20130131898A1 (en) | 2013-05-23 |
JP2010512266A (en) | 2010-04-22 |
CN101384465A (en) | 2009-03-11 |
CN102806923B (en) | 2015-12-09 |
BRPI0706029A2 (en) | 2011-03-15 |
RU2008108985A (en) | 2009-09-20 |
WO2008073545A3 (en) | 2008-08-07 |
RU2008109249A (en) | 2009-09-20 |
BRPI0706026A2 (en) | 2011-03-15 |
CN101432179A (en) | 2009-05-13 |
AU2007289021A1 (en) | 2008-06-26 |
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US8751073B2 (en) | 2014-06-10 |
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ZA200802282B (en) | 2008-12-31 |
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CN102806923A (en) | 2012-12-05 |
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JP2010512265A (en) | 2010-04-22 |
WO2008073545A2 (en) | 2008-06-19 |
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US20070219681A1 (en) | 2007-09-20 |
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